Efficient Motor Control Solutions: High Performance Servo Control (Design Conference 2013)

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This session provides insight into the operation of electric motor drive systems. Topics include electric motor operation and construction, motor control strategies, feedback sensors and circuits, power and isolation, and challenges of designing highly efficient motor control systems. A new high performance servo control FMC board will be presented, which provides an efficient motor control solution for different types of electric motors, addresses power and isolation challenges, and provides accurate measurement of motor feedback signals and increased control flexibility due to FPGA interfacing capabilities. The motor control hardware platform will be used to demonstrate rapid prototyping of motor control algorithms using Xilinx base platforms and the MathWorks development and simulation tools.

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Efficient Motor Control Solutions: High Performance Servo Control (Design Conference 2013)

  1. 1. Efficient Motor Control Solutions:High Performance Servo ControlReference Designs and Systems Applications
  2. 2. Legal Disclaimer Notice of proprietary information, Disclaimers and Exclusions Of WarrantiesThe ADI Presentation is the property of ADI. All copyright, trademark, and other intellectual property andproprietary rights in the ADI Presentation and in the software, text, graphics, design elements, audio and allother materials originated or used by ADI herein (the "ADI Information") are reserved to ADI and itslicensors. The ADI Information may not be reproduced, published, adapted, modified, displayed, distributedor sold in any manner, in any form or media, without the prior written permission of ADI.THE ADI INFORMATION AND THE ADI PRESENTATION ARE PROVIDED "AS IS". WHILE ADI INTENDS THEADI INFORMATION AND THE ADI PRESENTATION TO BE ACCURATE, NO WARRANTIES OF ANY KIND AREMADE WITH RESPECT TO THE ADI PRESENTATION AND THE ADI INFORMATION, INCLUDING WITHOUTLIMITATION ANY WARRANTIES OF ACCURACY OR COMPLETENESS. TYPOGRAPHICAL ERRORS ANDOTHER INACCURACIES OR MISTAKES ARE POSSIBLE. ADI DOES NOT WARRANT THAT THE ADIINFORMATION AND THE ADI PRESENTATION WILL MEET YOUR REQUIREMENTS, WILL BEACCURATE, OR WILL BE UNINTERRUPTED OR ERROR FREE. ADI EXPRESSLY EXCLUDES ANDDISCLAIMS ALL EXPRESS AND IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR APARTICULAR PURPOSE AND NON-INFRINGEMENT OF ANY THIRD PARTY INTELLECTUAL PROPERTYRIGHTS. ADI SHALL NOT BE RESPONSIBLE FOR ANY DAMAGE OR LOSS OF ANY KIND ARISING OUT OFOR RELATED TO YOUR USE OF THE ADI INFORMATION AND THE ADI PRESENTATION, INCLUDINGWITHOUT LIMITATION DATA LOSS OR CORRUPTION, COMPUTERVIRUSES, ERRORS, OMISSIONS, INTERRUPTIONS, DEFECTS OR OTHER FAILURES, REGARDLESS OFWHETHER SUCH LIABILITY IS BASED IN TORT, CONTRACT OR OTHERWISE. USE OF ANY THIRD-PARTYSOFTWARE REFERENCED WILL BE GOVERNED BY THE APPLICABLE LICENSE AGREEMENT, IFANY, WITH SUCH THIRD PARTY.©2013 Analog Devices, Inc. All rights reserved.2
  3. 3. Today’s AgendaMotor control applications and target marketsMotor operation and constructionMotor control strategiesFeedback sensors and circuitsPower and isolationADI high performance servo control FMC boardUsing the ADI high performance servo FMC board with Xilinx®FPGAs and Simulink®3
  4. 4. ObjectivesProvide insight into the operation of electric motordrive systems and show where ADI technology addsvalue to the systemUnderstand motor control strategies and the challengesof designing efficient motor control applicationsShow how some ADI motor control solutions can be usedwith Xilinx FPGAsShow how some ADI motor control solutions can be usedwith Simulink from MathWorks®4
  5. 5. Motor Control Applicationsand Target MarketsSection 15
  6. 6. Electric Motor ApplicationsElectric motors are used in a wide range of applications Industrial Medical Transportation Automotive Integrated applications Communications Household appliances6
  7. 7. Electric Motor DrivesMotor Drive A system that varies the motor electrical input power tocontrol the shaft torque, speed, or position.Types of Drives Application specific drive—designed to run a specificmotor in a specific application (e.g., variable speed pumpdrive). Standard drive—designed as a general-purpose motorspeed controller capable of running a variety of motorswithin a given power range. Servo drive—designed to deliver accurate and highdynamic control of position, speed, or torque down tozero speed. Typically used in automation applications. High performance servos—designed to deliver best inclass accuracy and connectivity. Typically used in CNCand pick and place machines.7
  8. 8. Market Classification in Motor ControlClassification and Categories8High End Servosand CNC* Different real-timeconnectivity* Multiaxis in singlecontroller* Highestperformance AFE/sensing* Advanced systemarchitectureServos andPremium Drives* System dependentreal-time connectivity* Single and dual axisin single controller* Highestperformance AFE/sensing* Balanced/costoptimal systemarchitectureStandard andMidrange Drives* Ethernet and fieldbus connectivity* Single axis in onecontroller* Midend performanceAFE/sensing* Cost optimal systemarchitectureApplicationSpecific MotorControl*Simple/systemconnectivity* Single axis in onecontroller* System dependentAFE/sensing* Cost optimal endapplicationarchitecture
  9. 9. Market Sub Segments in Motor ControlPartners and Systems Value from ADI9High End Servos/CNCADI + FPGA VendorsXilinxFocus ADI Parts:Isolation (Gate Drivers/Discrete)AD740x + AMPRDC + SAR ADCTransceiversPowerAccelerometers/SensorsServos and PremiumDrivesADI Has Complete SignalChain + Select PartnersFocus ADI Parts:ASSPs/SHARC/BFIsolation (Gate Drivers/Discrete)AD740x + AMPRDC + SAR ADCTransceiversPowerAccelerometers/SensorsStandard and MidrangeMotor DrivesADI Has Complete SignalChain + Select PartnersFocus ADI Parts:ASSPs/BFIsolation (Gate Drivers/Discrete)AD740x + AMPsRDC + SAR ADCTransceiversPowerApplications SpecificMotor ControlADI Has Part of SignalChain + Select PartnersFocus ADI Parts:ASSPs / ADuC FamilyIsolation (Gate Drivers/Discrete)AMPsSAR ADCTransceiversPowerHighest Value forHigh PerformanceFPGA and AFE
  10. 10. Market TrendsSave Energy Drive for performance and quality in motor control More than 40% of global energy consumed by motors The requirement for higher system efficiency meansthere is a need to move from standard inductionmachines to permanent magnet motors Shift from analog to digital control—focus on highestpossible efficiencyImpact of Trends Increases need for new performing technologies on:converters, amplifiers, processors, isolation, power, interfaces The need for higher controller performance makesroom for new technologies like FPGAs and otheradvanced controllers to be used in motor controlsystems10
  11. 11. Electric MotorsOperation and ConstructionSection 211
  12. 12. Types of Electric MotorsDC Motors Stepper Brushed DC Brushless Permanent Magnet Brushless DC (BLDC) Permanent Magnet Synchronous Motors(PMSM)AC Motors Asynchronous Motors Synchronous Motors12
  13. 13. Basic Motor Operation13Torque Production Back EMF Generation....paaapakeikT Magnetization Fa of the armaturecoil due to ia produces torquethat tends to align the coil withthe external magnet. Rotation of the armature results ina change in the flux coupled fromthe magnet and EMF ea isgenerated.
  14. 14. Motor Flux and BEMF14 The total flux picked up by themotor winding depends on thealignment of the coils with themagnetic field. The flux linked by a coil varies as asinusoidal function of itsalignment angle with the field. When the coil moves at a constantspeed, the coil flux has a cosinewaveform. The back EMF is the rate of changeof flux and is a sine waveform. AC motors are designed to have asinusoidal flux function—the backEMF magnitude is proportional tothe frequency. The torque generation function isalso sinusoidal.         ttedtdtdtdtepapaapa.sin...sin.cos.
  15. 15. Field Alignment and Torque Production15 Torque produced by magneticforces on the current carryingconductors. Maximum torque generatedwhen the coil axis isorthogonal to the magneticfield. In dc motors, the currentpolarity is switched when thecoil reverses alignment. In ac motors, torque has a sinefunction with angle. Maximum torque is producedwhen the coil current is inphase with the coil back EMF. Three phase machinesgenerate constant power andtorque.              cos..sin..sin...sin..sin..mpmpaamapaITttItiteTtItitte
  16. 16. DC and AC Motor Construction16DC Motor Moving armature coils and fixedmagnets The coil voltage polarity dependson alignment angle with themagnet The commutator automaticallyselects the coils generatingpositive voltageAC Motor Fixed stator coils and movingrotor magnets The coil voltages depend on thealignment angle with the rotormagnets Multiple stator windings forsmooth torque production
  17. 17. Brushless DC and PMSM Motor Construction17BLDC Motor Fixed stator coils and movingrotor permanent magnets Trapezoidal supply voltage Trapezoidal BEMF Stator flux position commutateseach 60 degrees High core losses Relative simple control algorithmPMSM Motor Fixed stator coils and movingrotor permanent magnets Sinusoidal supply voltage Sinusoidal BEMF Continuous stator flux positionvariation Lower core losses Complex control algorithm
  18. 18. Motor Control StrategiesSection 318
  19. 19. Brushed DC Motor Control19 Vary the dc supply, and the motor speedwill follow the applied voltage Pulse width modulation Constant amplitude voltage pulses of varyingwidths are provided to the motor: the wider thepulse, the more energy transferred to the motor The frequency of the pulses is high enough thatthe motor’s inductance averages them, and itruns smooth A single transistor and diode can controlthe speed of a dc motor The motor speed (voltage) is proportional to thetransistor ON duty cycle Positive torque only—passive braking An H-bridge power circuit enables fourquadrant control Forward and reverse motion and braking Complementary PWM signals applied to the highand low side switches in the bridge
  20. 20. AB CBLDCCONTROLLER+-HALLAHALLBHALLCBrushless DC Motor Control20 Brushless dc motors windings generate atrapezoidal back EMF synchronized to theposition of the rotor magnet. Hall effect sensors detect the rotor magnetposition and provide signals indicating the“flat top” portion for each winding’s backEMF. Six switching segments can be identified. Star Connection Control For any one segment, two windings will be in the“flat top” portion of the back EMF and a thirdwinding will be switching between a positive andnegative output. Electronic control leaves one winding opencircuit, connects one winding to the lower dcrail, and controls the voltage applied to the thirdwinding using PWM. The fill factor of the applied PWM controls thespeed of the motor.
  21. 21. AB CBLDCCONTROLLER+-HALLAHALLBHALLCBrushless DC Motor Control21 Delta Connection Control For any one segment, two windings areconnected to the positive voltage supply anda third winding is connected to the negativevoltage supply. The fill factor of the applied PWM controlsthe speed of the motor. The rotation sequence can be reversed byreversing the polarity of the windings. Sensorless control can be achieved bydetecting the zero crossings of the BEMFfor each phase Sensorless control benefits Lower system cost Increased reliability Sensorless control drawbacks BEMF zero crossings can’t be reliablydetected at low motor speeds
  22. 22. AC Motor Control22 Volts per Hertz Control Variable frequency drive for applications likefans and pumps Fair speed and torque control at areasonable cost Sensorless Vector Control Does not require a speed or positiontransducer Better speed regulation and the ability toproduce high starting torque Flux Vector Control More precise speed and torque control, withdynamic response Retains the Volts/Hertz core and addsadditional blocks around the core Field Oriented Control Best speed and torque control available for acmotors The machine flux and torque are controlledindependentlyUVWAC MOTORCONTROLLER+-IaIbSpeed
  23. 23. Field Oriented Control (FOC)23 Separates and independently controls the motor flux and torque Applies equally well to dc motors and ac motors and is the reason “dclike” performance can be demonstrated using field oriented control onac drivesTorqueControllerPIFluxControllerPIInverseParkTransformd,q → α,βSpaceVectorPWM3 PhaseInverterForwardClarkeTransforma,b → α,βForwardParkTransformα,β → d,qVsqVsdVsαVsβVsa PWMVsb PWMVsc PWMACMotorisaisbisαisβisdisqVsqVsdVsqRefVsdRef_++_VDCRotor FluxAngle θ
  24. 24. Field Oriented Control—Clarke24 The forward Clarke transformation converts a 3-phase system(a, b, c) to a 2-phase coordinate system (α, β). Forward Clarke transformation Inverse Clarke transformationa, αβbcIsa IsαIsbIscIsIsβ
  25. 25. Field Oriented Control—Park25 The forward Park transformation converts a 2-phase system (α, β)attached to the stator reference frame to a 2-phase coordinate system(d, q) attached to the rotor reference frame. Forward Park transformation Inverse Park transformationβαIsαIsβIsdqθfieldIsdIsq
  26. 26. Space Vector Modulation26 Directly transforms the stator voltage vectors from a (α, β) coordinatesystem to PWM signals A vector is produced that transitions smoothly between sectors and, thus,provides sinusoidal line-to-line voltages to the motor The mean vector computed during a PWM period is equal to the desiredvoltage vectorU V W Vector0 0 0 U0000 0 1 U00 1 0 U1200 1 1 U601 0 0 U2401 0 1 U3001 1 0 U1801 1 1 U111
  27. 27. Feedback Sensors and CircuitsSection 427
  28. 28. Current and Voltage Sensing28 Shunt Resistor Linear, wide BW, zero offset Power loss at high currents andno isolation Current Transformer Isolating AC only with poor linearity at low current Hall Effect Current Sensor Isolating, dc operation and less expensivethan CT Nonlinearity and zero offset Nulling Hall Effect Sensor Isolating, dc operation and better linearitythan HE sensor More expensive and zero offset Voltage isolation Used to remove CM signal from dcbus, motor voltage, and current shuntvoltagesIsolating
  29. 29. Shaft Position and Speed Sensing DevicesSpeed AC and DC tachometers are permanentmagnet generators that produce avoltage proportional to speed. The ac tachometer output frequency isalso proportional to speed.Commutation (Rotor Angle) Brushless dc motors require lowresolution feedback derived from themotor magnets using Hall effect sensors. A Hall effect based magnetic encodergenerates a pulse train for speed andincremental position.Precision Shaft Angle Optical encoders with precision patternprinted on a glass disk provide very highresolution shaft position and speed data. Resolvers generate sine/cosine relativeto position. They are the analogcounterpart of the rotary encoder.29
  30. 30. Sensorless ControlEliminate mechanical speed/position sensors by calculatingfeedback signal from other information Often used for rotor position estimation in PMSM and BLDC motors Very useful in estimating rotor flux position in ACIM FOC control In some cases, can provide better results than real sensorsTechniques BEMF detection to estimate rotor position in BLDC motor control Rotor angle detection based on motor model using measured phases currentsand voltagesProblems Variation of motor/model parameters over time, temperature Usually need special handling of low speed/zero speed and/or start-up30
  31. 31. Power and IsolationSection 531
  32. 32. Safety and Functional Isolation32 Functional isolation protects electronic controlcircuits from damaging voltages Isolate high voltage output from control circuitsconnected to Power_GND Safety isolation protects the user from dangerousvoltages Protects user and electronic circuits International standard apply Typically requires double insulation barrier: singledevice with two insulating layers OR two singleinsulating layer devices in path to EARTH Isolation options Isolate power circuits from the control and user I/Ocircuits Common in “noisy” high power systems Required when there is high BW communicationsbetween control and communications process Isolate power and control circuits from user I/Ocircuits Common in low power systems Simplifies signal isolation when there is limitedcommunications between control and user
  33. 33. Motor Control Signal Isolation—Isolated PowerCircuitFeedback isolation Measure winding current usingisolating ADC Isolated RS-485 position data fromencoder ASICInverter drive isolation Isolated high- and low-side gatedriversDC bus signal isolation Serial I2C ADC for analog signalisolation Digital isolation of hardware tripsignalsField Bus isolation Isolate CAN outputs from field busnetwork33
  34. 34. ADI High Performance ServoControl FMC BoardSection 634
  35. 35. FPGAs in Motor ControlFPGAs are becoming more popular formotor control Wide integration capabilities Higher performance, reduced latency Cost reductionFPGAs are used in a large number ofindustry fields for efficient motor control Industrial servos and drives Manufacturing, assembly, and automation Medical diagnostic Surgical assist robotics Video surveillance and machine vision Power efficient drives for transportation35
  36. 36. ADI FMC High Performance Servo BoardPurpose Provide an efficient motor control solution for different types ofelectric motors Address power and isolation challenges encountered in motorcontrol application Provide accurate measurement of motor feedback signals FPGA interfacing capabilityAdded Value Complete control solution showing how to integrate hardware for: Power Isolation Measurement Control Increased control flexibility due to FPGA interfacing capabilities Increased versatility to be able to control different types ofmotors Example reference designs showing how to use the controlsolution with Xilinx FPGAs and Simulink36
  37. 37. ADI FMC High Performance Servo Board FMC 12 V or external power Drives motors up to 42 V at 4 A Control signals isolation Current and voltage measurement usingisolated ADCs BEMF zero cross detection for sensorlesscontrol of PMSM or BLDC motors Connectors for Hall and speed encoders Can drive two BLDC/PMSM/brushed DCmotors simultaneously Can drive one stepper motor Compatible with all Xilinx FPGA platformswith FMC LPC or HPC connectors Interface for Xilinx 7 series FPGAs XADC37
  38. 38. ADI FMC Motor Control Board Block Diagram38ADI FMC MOTOR CONTROLISOLATEDMotor DriverL6234Current +Voltage SenseAD7401ACurrent +Voltage SenseXADCAD8126 AD8137PowerADP2504ADUM5000ADP122IsolationADUM1310Voltage TranslationADG3308BEMF SenseCMP04FMC_3.3VVEXT_DC 12V-42VFLOATING GND REFERENCEVBUSFMC_12VFPGA GND REFERENCEHALL Sensors / Speed EncoderHALL Sensors / Speed EncoderHALL /Speed EncoderHALL /SpeedEncoderIa / Ib / ItVbusU/V/W BEMFXADC Header5V_ISO3.3V_ISOMotor DriverL6234VoltageTranslationADG3308VoltageTranslationADG3308FMC_M1_PWMFMC_M2_PWMFMC_M1_FAULTFMC_M2_FAULTIsolationADUM110IsolationADUM1310IsolationADUM110IsolationADUM1310VBUSGND_ISOBLDC /PMSM /DC /STEPPERFMCLPCBLDC /PMSM /DC /STEPPERShuntResistorsU / V / WShuntResistorsU / V / WIa / Ib / ItIa / Ib / It
  39. 39. Key Parts Features That Improve SystemPerformance Efficient Motor Control Prerequisites High quality power sources Reliable power, control, and feedback signals isolation Accurate currents and voltages measurements High speed interfaces for control signals to allow fast controller response39MeasurementAD7401A 5 kV rms, isolated 2nd order Sigma-Delta modulatorAD8216 High bandwidth, bidirectional 65 V difference amplifierPowerADuM5000 isoPower® integrated isolated dc-to-dc converterADP2504 1000 mA, 2.5 MHz buck-boost dc-to-dc converterADP122 Low quiescent current, CMOS linear regulatorIsolationADuM1310 Triple channel digital isolatorADuM1100 iCoupler® digital isolatorVoltage TranslationADG3308 8-channel bidirectional level translator
  40. 40. AD7400A/7401A: 5 kV rms, Isolated 2nd OrderSigma-Delta Modulator Features High performance isolated ADC 16-bit NMC ±2 LSB (typ) INL with 16-bit resolution 1.5 mV/°C (typ) offset drift ±250 mV differential analog input −40°C to +125°C operating temperaturerange 5 kV rms, isolation rating (per UL 1577) Maximum continuous working voltages 565 V pk-pk: ac voltage bipolar waveform 891 V pk-pk: ac voltage unipolarwaveform (CSA/VDE) 891 V: dc (CSA/VDE) Ideal for motor control and dc-to-ac inverters Shunt resistor current feedback sensing Isolated voltage measurement External clocked version simplifiessynchronization40Product Data Rate Clock SNR ENOB INL PackageAD7400A 10 MHz Internal 80 dB 12.5 ±2 LSB SOIC-16Gull Wing-8AD7401A 20 MHz External 83 dB 13.3 ±1.5 LSB SOIC-16
  41. 41. AD8216: High Bandwidth, Bidirectional 65 VDifference Amplifier Features ±4000 V HBM ESD Ideal for current shunt applications High common-mode voltage range −4 V to +65 V operating −40 V to +80 V survival 3 MHz bandwidth <100 ns output propagation delay Gain: 3 V/V Wide operating temperature range Die: −40°C to +150°C 8-lead SOIC: −40°C to +125°C Adjustable output offset Excellent ac and dc performance 10 μV/°C offset drift 10 ppm/°C gain drift Qualified for automotive applications Applications High-side current sensing in DC-to-DC converters Motor controls Transmission controls Diesel-injection controls Suspension controls Vehicle dynamic controls41
  42. 42. ADuM5000: Isolated DC-to-DC Converter Features isoPower® integrated isolated dc-to-dcconverter Regulated 3.3 V or 5 V output Up to 500 mW output power 16-lead SOIC package with >8 mmcreepage High temperature operation 105°C maximum High common-mode transient immunity >25 kV/μs Thermal overload protection Safety and regulatory approvals UL recognition 2500 V rms for 1 minute per UL 1577 CSA component accept notice #5A(pending) Applications RS-232/RS-422/RS-485 transceivers Industrial field bus isolation Power supply startups and gate drives Isolated sensor interfaces Industrial PLCs42
  43. 43. ADP2504: 1000 mA, 2.5 MHz Buck-BoostDC-to-DC Converter Features 2.5 MHz operation enables 1.5 μH inductor Input voltage: 2.3 V to 5.5 V Fixed output voltage: 2.8 V to 5.0 V 1000 mA output Boost converter configuration with loaddisconnect Power save mode (PSM) Forced fixed frequency operation mode Synchronization with external clock Internal compensation Soft start Enable/shutdown logic input Overtemperature protection Short-circuit protection Undervoltage lockout protection Applications Wireless handsets Digital cameras/portable audio players Miniature hard disk power supplies USB powered devices43
  44. 44. ADuM1310: Triple Channel Digital Isolator Features Low power operation 5 V operation 1.7 mA per channel maximum at 0 Mbps to 2Mbps 4.0 mA per channel maximum at 2 Mbps to10 Mbps 3 V operation 1.0 mA per channel maximum at 0 Mbps to 2Mbps 2.1 mA per channel maximum at 2 Mbps to10 Mbps Bidirectional communication 3 V/5 V level translation Schmitt trigger inputs High temperature operation 105°C Up to 10 Mbps data rate (NRZ) Programmable default output state High common-mode transient immunity >25 kV/μs Applications General-purpose multichannel isolation SPI interface/data converter isolation RS-232/RS-422/RS-485 transceiver Industrial field bus isolation44
  45. 45. L6234: 3-Phase Motor DriverFeatures Supply voltage from 7 V to 52 V 5 A peak current RDSON 0.3 Ω typ value at 25°C Cross conduction protection TTL compatible driver Operating frequency up to 150 kHz Thermal shutdown Intrinsic fast free wheeling diodes Input and enable function for eachhalf bridge 10 V external reference availableApplications Brushed dc drives BLDC drives PMSM drives45
  46. 46. Using the ADI High PerformanceServo FMC Board with XilinxFPGAs and SimulinkSection 746
  47. 47. ADI High Performance Servo DevelopmentPlatformTarget FPGA Platforms Xilinx Virtex FPGA platforms Xilinx Kintex FPGA platforms Xilinx Zynq FPGA platformsControl Algorithms Simulink models for controller ready for codegeneration using HDL Coder™ from MathWorksand Xilinx System Generator Reference design showing BLDC motor speedcontrol Reference design showing BLDC motor speedand torque controlSimulation and Monitoring Controller simulation and tuning in Simulink ChipScope™ interface for internal signalsmonitoring47
  48. 48. Motor Control Reference Design FPGA Blocks Motor Controller generated from Simulink 6 State Motor Driver SINC3 Filters for current and voltagemeasurement BEMF position detector Hall position detector ChipScope blocks48Xilinx ML605/KC705/VC707/ZC702 FPGAFMCLPCADI Motor Control BoardMotorControllerBEMF PositionDetectorSINC3 FiltersHALL PositionDetectorIsolated GateDriver MBLDCPWMIsolated ADCsCurrentShuntsBEMF ZeroCrossDetectorsHALLSensorsVoltage LevelTranslatorChipscope ICONChipscope ILA6 State MotorDriverMUXPWMCurrentPositionChipscope VIO
  49. 49. Speed Control Reference DesignsSpeed Control Reference Design Target motor: BLDC Speed control using Hall sensor Sensorless speed control usingBEMF Simulink controller model ChipScope interface for internalsignals monitoringImplementation Flow49BLDCPIDController6 StateMotor DriverSpeedComputationPWMPositionSpeedReferenceSpeed+-Design and TunetheMotor ControllerinSimulinkusing theXilinx BlocksetGenerate the HDL Netlistfor theSimulink Motor ControllerusingXilinx System GeneratorIntegratetheMotor Controller HDL Netlistin theSpeed Control ReferenceDesign
  50. 50. Simulink Speed Controller50Speed ComputationPID ControllerEdge Detection
  51. 51. Simulink Speed Controller51
  52. 52. Motor Control Reference DesignsSpeed and Torque ControlReference Design Target motor: BLDC Speed and torque control Simulink controller model ChipScope interface forinternal signals monitoringImplementation Flow52BLDCPI SpeedController6 StateMotor DriverSpeedComputationCurrentReferencePositionSpeedSpeedReference+-PID CurrentControllerPWMCurrentComputationTotal CurrentMeasurementTotalCurrent+ -Design and TunetheMotor ControllerinSimulinkusingSimulink Native BlocksGenerate the HDL Netlistfor theSimulink Motor ControllerusingXilinx System GeneratorIntegratetheMotor Controller HDL Netlistin theSpeed and Torque ControlReference DesignGenerate the HDL codefor theMotor ControllerusingHDL CoderReplace in the Simulink modelthe Motor ControllerwithXilinx Black Boxescontaining theHDL generated byHDL Coder
  53. 53. Simulink Speed and Torque Controller53Speed ComputationPI Speed ControllerCurrent ComputationPID Torque Controller
  54. 54. Simulink Speed and Torque Controller54
  55. 55. Simulink Speed and Torque Controller55
  56. 56. ConclusionsThe ADI high performance servo development platform showcasesa full motor control solution that shows how to integrate all thenecessary hardware components for efficient motor control in onesystemThe FPGA interfacing capabilities provide a high degree of flexibilityin developing high performance motor control algorithmsBy using the MathWorks simulation and development tools, highperformance control algorithms can be developed and simulated onthe PC and transferred directly into the FPGAThe ADI motor control reference designs provide a starting point fordeveloping enhanced motor control algorithms using MathWorksand Xilinx FPGAs56
  57. 57. Tweet it out! @ADI_News #ADIDC13What We CoveredMotor operation and constructionMotor control strategiesFeedback sensors and circuitsPower and isolationADI high performance servo control FMC boardUsing the ADI high performance servo FMC board with Xilinx FPGAsand Simulink57
  58. 58. Tweet it out! @ADI_News #ADIDC13Design Resources Covered in This SessionAsk technical questions and exchange ideas online in ourEngineerZone™ Support Community Choose a technology area from the homepage: ez.analog.com Access the Design Conference community here: www.analog.com/DC13communityDownload the motor control reference designs and documentationfrom the ADI wiki wiki.analog.com58
  59. 59. Tweet it out! @ADI_News #ADIDC13Visit the Motor Control Demo in the ExhibitionRoomDemo: speed and torque control of a BLDC motorTwo motors connected through a drive belt—one motor in generatormode with variable output resistance to simulate load changes onthe driving motorThe system’s operation can be completely monitored and controlledthrough ChipScopeHardware: ADI servo control FMC board Xilinx ML605 FPGA board 2 × 24 V BLDC motors59This demo board is available for purchase:www.analog.com/DC13-hardware

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